Accurate meal delivery robot based on laser radar

Abstract

The precise meal delivery robot based on the laser radar comprises a mounting table, connecting plates are fixedly mounted on the two sides of the mounting table, a driving wheel is rotationally mounted at one end of each connecting plate, a motor is fixedly mounted at the other end of each connecting plate, and an output shaft of each motor penetrates through the corresponding connecting plate to be fixedly mounted at one end of the corresponding driving wheel; a stabilizing frame is fixedly mounted on the upper surface of the mounting table, a linear module is fixedly mounted on the upper surface of the stabilizing frame, connecting arms are fixedly mounted on the two sides of a movable block of the linear module, and bearing mechanisms are slidably mounted on the outer surfaces of the connecting arms. Through the design of the linear module, the three-dimensional camera and the bearing mechanism, the food delivery tray can be moved to the corresponding accurate height position according to the arm position of a guest, the guest has better experience in the food taking process, the hanging type food delivery tray has the function of being conveniently taken down, and the service life of the food delivery tray is prolonged. And a convenient food taking function of the guest can be increased.

Description

Technical Field

[0001] The utility model relates to the technical field of food delivery robots, in particular to a precise food delivery robot based on laser radar. Background Art

[0002] In product manufacturing, robots can replace humans to complete more dangerous work, and the robot's operation speed and reaction speed are relatively fast, which can improve product production efficiency and reduce production costs. Now with the continuous development of intelligent robot technology, robots are involved in more and more fields, and robots have also appeared in the catering industry, such as: vegetable cutting robots, welcoming robots and food delivery robots. In particular, food delivery robots can replace service personnel to carry hot and scalding food, and food delivery robots can make restaurants more distinctive and attract customers. Food delivery robots are usually equipped with laser radars. During the movement of the food delivery robot, the laser radar emits light to detect and identify the surrounding environment so that the food delivery robot can avoid obstacles during the movement.

[0003] For example, the patent with the national authorized patent announcement number CN218285554U discloses a meal delivery service robot. The meal delivery service robot of the utility model includes a meal delivery tray assembly and a meal delivery mobile platform. The production tray assembly is arranged on the meal delivery mobile platform. The meal delivery mobile platform is provided with a depth camera, a laser radar group and an ultrasonic sensor. The depth camera and the laser radar group are used for identifying objects and mobile navigation, and the ultrasonic sensor is used for identifying obstacles that the depth camera and the laser radar group cannot perceive. The beneficial effect of the utility model is that it can effectively solve the problem that the meal delivery service robot in the prior art is prone to objects that cannot be identified by the depth camera when facing complex scenes, resulting in collisions and inaccurate meal delivery positions during the meal delivery process. By using this product structure, the cooperation between the depth camera, the laser radar group and the ultrasonic sensor can effectively improve the recognition accuracy and improve the user experience.

[0004] However, the tray in the above-mentioned food delivery service robot does not have the function of being easily replaced. If the soup is spilled during the food delivery process, it will cause inconvenience in cleaning, and the tray will become slippery, affecting its stability during the food delivery process.

[0005] Moreover, the position of the tray cannot be raised according to the height of the guests, requiring the guests to bend over several times to pick up the food, which is especially inconvenient or uncomfortable for tall or elderly people and affects the dining experience. The tray at the bottom will also block the guests' field of vision for grabbing the plate. Utility Model Content

[0006] The purpose of the utility model is to provide a precise food delivery robot based on laser radar to solve the problem proposed in the above-mentioned background technology that the robot cannot be lifted appropriately according to the height of the guests, and the guests need to bend over many times to pick up the food, which may cause inconvenience or discomfort especially for tall or older people.

[0007] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0008] A laser radar-based precision food delivery robot comprises: a mounting platform, connecting plates are fixedly mounted on both sides of the mounting platform, a driving wheel is rotatably mounted on one end of the connecting plate, a motor is fixedly mounted on the other end of the connecting plate, an output shaft of the motor passes through the connecting plate and is fixedly mounted on one end of the driving wheel, and a universal wheel is rotatably mounted on the lower surface of the front end of the mounting platform;

[0009] Among them, a stabilizing frame is fixedly installed on the upper surface of the mounting table, a linear module is fixedly installed on the upper surface of the stabilizing frame, connecting arms are fixedly installed on both sides of the moving block of the linear module, a bearing mechanism is slidably installed on the outer surface of the connecting arm, and a meal delivery tray is hung between the two groups of the bearing mechanisms.

[0010] Preferably, an RGB camera is fixedly installed on the lower surface of the mounting platform, and a laser radar is fixedly installed on the upper surface of the mounting platform. The signal transmitting ends of the RGB camera and the laser radar are connected to the signal receiving end of the controller, and the controller is arranged on the upper surface of the mounting platform.

[0011] Preferably, a stereo camera is fixedly mounted on one end of the moving block of the linear module, a signal transmitting end of the stereo camera is connected to a signal receiving end of a controller, and a control output end of the controller is electrically connected to an electrical control end of the linear module.

[0012] Preferably, a power supply battery is fixedly installed on the upper surface of the mounting table, and the power supply battery is electrically connected to the motor, the linear module, the RGB camera, the laser radar and the stereo camera.

[0013] Preferably, the bearing mechanism includes a slide cylinder, which is slidably mounted on the outer surface of the connecting arm, a connecting rod is fixedly mounted on one end of the slide cylinder, a hook is fixedly mounted on one end of the connecting rod, the hook can provide a handle for hanging, and the handle is fixedly mounted on the upper surface of the food delivery tray.

[0014] Preferably, a butterfly bolt is installed on the inner thread of the slide cylinder, and a pressure plate is fixedly installed on the lower surface of the threaded portion of the butterfly bolt. The pressure plate can be pressed on the upper surface of the connecting arm through the butterfly bolt thread.

[0015] Compared with the prior art, the beneficial effects of the utility model are:

[0016] 1. Through the design of stereo cameras, laser radars, linear modules, RGB cameras, connecting arms and carrying mechanisms, when in use, the staff can hang the handle of the delivery tray between the carrying mechanisms, and the hanging delivery tray makes it easy to disassemble and replace. The delivery tray can also be directly removed during the process of taking meals to complete the function of taking out all meals, thereby increasing the convenience of guests taking meals. After hanging the delivery tray, the bowls can be placed in the delivery tray, and then the mounting table can drive the meals to be delivered through the driving wheels. During the delivery process, the color images captured by the RGB camera provide rich visual information, such as the color, texture and shape of the object, and the controller's visual algorithm is used to enable the RGB camera to identify the walking path. By processing image data, the system can understand the visual information of the surrounding environment, identify and classify different objects, and the laser radar generates high-precision three-dimensional point cloud data by emitting laser pulses and measuring their return time. These point cloud data contain the surrounding The distance information of each point in the environment enables it to accurately measure the distance and size of objects, helping the system build a detailed 3D environmental model. By analyzing the point cloud data, the LiDAR can identify and locate obstacles such as pedestrians and buildings, and the controller will fuse the image data of the RGB camera and the point cloud data of the LiDAR to form a comprehensive environmental model. Through data fusion, the system can take advantage of the advantages of each sensor to obtain more accurate and complete environmental information. Based on the fused environmental model, the controller uses the path planning algorithm to calculate the optimal path, taking into account factors including road conditions, traffic rules and obstacle locations. During the delivery process, the controller will continuously update the path planning. The controller will update the path in real time and adjust it according to the new perception data to ensure that obstacles are avoided and that the correct path is maintained. Through the collaborative work of the stereo camera, LiDAR and controller, the system can efficiently perceive the environment, plan the path and make real-time adjustments, thereby achieving accurate road recognition and safe food delivery.

[0017] After the food is delivered to the destination, the stereo camera uses depth sensing technology to capture three-dimensional information of objects in the scene. Once a human body is identified, it will use the depth information to determine the guest's arm position. The controller then receives this information and adjusts the position of the moving block by controlling the linear module, so that the moving block drives the supporting mechanism and the food delivery tray to move to a position flush with the human shoulder for the guest to take down the food delivery tray to complete the purpose of picking up the food. This enables the food delivery tray to be moved to a corresponding precise height position according to the guest's arm position, thereby eliminating the need for the guest to bend over to pick up the food, allowing the guest to have a better experience in the process of picking up the food.

[0018] 2. Through the design of the connecting rod, slide, butterfly bolt, top pressure plate and hanging buckle, after the guest places an order, the staff can choose the size of the delivery tray according to the number of orders, and then the staff can loosen the butterfly bolt so that the butterfly bolt drives the top pressure plate to disengage the top pressure on the connecting arm, so that the slide can slide outward on the outer surface of the connecting arm to expand, and then the spacing between the connecting rods can be adjusted. After it is adjusted to a length suitable for the delivery tray, the butterfly bolt can be tightened so that the top pressure plate on the lower surface of the butterfly bolt presses on the upper surface of the connecting arm, and then the slide can be fixed in the current position. Then the staff can hang the handle of the delivery tray on the upper surface of the hanging buckle on the inner side of the connecting rod, so that it can be easily removed through the hanging delivery tray. The delivery tray can be directly removed during the process of taking meals to complete the function of taking out all meals, thereby increasing the convenience of guests in taking meals. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the overall structure of the laser radar-based precision food delivery robot of the utility model;

[0020] Figure 2 This is a schematic diagram of the drive wheel and motor structure of the utility model;

[0021] Figure 3 This is a schematic diagram of the structure of the moving block and the stereo camera of the utility model;

[0022] Figure 4 It is a schematic diagram of the structure of the bearing mechanism of the utility model.

[0023] In the figure: 1. mounting table; 101. driving wheel; 102. universal wheel; 103. power supply battery; 104. connecting plate; 105. motor; 2. RGB camera; 3. laser radar; 4. stabilizing frame; 5. linear module; 501. moving block; 502. connecting arm; 503. stereo camera; 6. bearing mechanism; 601. connecting rod; 602. slide cylinder; 603. butterfly bolt; 604. top pressure plate; 605. hanging buckle; 7. food delivery tray; 701. handle. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0025] See also Figure 1-Figure 4 , this embodiment provides the following technical solutions:

[0026] like Figure 1-Figure 3 As shown, a laser radar-based precision food delivery robot comprises: a mounting platform 1, connecting plates 104 are fixedly mounted on both sides of the mounting platform 1, a driving wheel 101 is rotatably mounted on one end of the connecting plate 104, a motor 105 is fixedly mounted on the other end of the connecting plate 104, an output shaft of the motor 105 passes through the connecting plate 104 and is fixedly mounted on one end of the driving wheel 101, and a universal wheel 102 is rotatably mounted on the lower surface of the front end of the mounting platform 1;

[0027] Among them, a stabilizing frame 4 is fixedly installed on the upper surface of the mounting table 1, a linear module 5 is fixedly installed on the upper surface of the stabilizing frame 4, connecting arms 502 are fixedly installed on both sides of the moving block 501 of the linear module 5, a bearing mechanism 6 is slidably installed on the outer surface of the connecting arm 502, and a meal delivery tray 7 is hung between the two sets of bearing mechanisms 6.

[0028] An RGB camera 2 is fixedly mounted on the lower surface of the mounting platform 1, and a laser radar 3 is fixedly mounted on the upper surface of the mounting platform 1. The signal transmitting ends of the RGB camera 2 and the laser radar 3 are connected to the signal receiving end of the controller, and the controller is arranged on the upper surface of the mounting platform 1.

[0029] A stereo camera 503 is fixedly mounted on one end of the moving block 501 of the linear module 5 . The signal transmitting end of the stereo camera 503 is connected to the signal receiving end of the controller. The control output end of the controller is electrically connected to the electric control end of the linear module 5 .

[0030] A power supply battery 103 is fixedly installed on the upper surface of the mounting platform 1 , and the power supply battery 103 is electrically connected to the motor 105 , the linear module 5 , the RGB camera 2 , the laser radar 3 and the stereo camera 503 .

[0031] Through the design of the stereo camera 503, the laser radar 3, the linear module 5, the RGB camera 2, the connecting arm 502 and the supporting mechanism 6, when in use, the staff can hang the handle 701 of the meal delivery tray 7 between the supporting mechanism 6, and the hanging meal delivery tray 7 makes it have the function of convenient disassembly and replacement, and can also directly take down the meal delivery tray 7 during the meal collection process to complete the function of taking out all the meals, thereby increasing the convenience of guests taking meals, and after hanging the meal delivery tray 7, the meal bowl can be placed in the meal delivery tray 7, and then the mounting table 1 can drive the meal to be delivered through the driving wheel 101, and in the process of meal delivery, the color image captured by the RGB camera 2 provides rich visual information, such as the color, texture and shape of the object, and the visual algorithm of the controller is used to enable the RGB camera 2 to identify the walking path, and by processing the image data, the system can understand the visual information of the surrounding environment, identify and classify different objects, and the laser radar 3 generates high-precision three-dimensional point cloud data by emitting laser pulses and measuring their return time. These point cloud data contain the distance information of each point in the environment, so that it can accurately measure the distance and size of objects, helping the system to build a detailed three-dimensional environmental model. By analyzing the point cloud data, the laser radar 3 can identify and locate obstacles, such as pedestrians and buildings, and the controller will fuse the image data of the RGB camera 2 and the point cloud data of the laser radar 3 to form a comprehensive environmental model. Through data fusion, the system can take advantage of the advantages of each sensor to obtain more accurate and complete environmental information. Based on the fused environmental model, the controller uses a path planning algorithm to calculate the optimal path, taking into account factors including road conditions, traffic rules and obstacle locations. During the delivery process, the controller will continuously update the path planning. The controller will update the path in real time and adjust it according to the new perception data to ensure that obstacles are avoided and the correct path is maintained. Then, through the coordinated work of the stereo camera 503, the laser radar 3 and the controller, the system can efficiently perceive the environment, plan the path and adjust it in real time, thereby achieving accurate road recognition and safe food delivery.

[0032] The controller can be a DSP controller of TMS320F2812 or a single chip microcomputer of STC89C51.

[0033] After the food is delivered to the destination, the stereo camera 503 uses depth perception technology to capture three-dimensional information of objects in the scene. Once a human body is identified, it will use the depth information to determine the guest's arm position. Then the controller will receive this information and adjust the position of the movable block 501 by controlling the linear module 5, so that the movable block 501 drives the supporting mechanism 6 and the food delivery tray 7 to move to a position flush with the human shoulder for the guest to take down the food delivery tray 7 to complete the purpose of picking up the food, so that it can move the food delivery tray 7 to the corresponding precise height position according to the guest's arm position, thereby eliminating the disadvantage of the guest having to bend down to pick up the food during the meal picking process, so that the guest has a better experience in the process of picking up the food.

[0034] like Figure 4 As shown, the supporting mechanism 6 includes a slide 602, which is slidably mounted on the outer surface of the connecting arm 502, a connecting rod 601 is fixedly mounted on one end of the slide 602, and a hook 605 is fixedly mounted on one end of the connecting rod 601. The hook 605 can provide a handle 701 for hanging, and the handle 701 is fixedly mounted on the upper surface of the food delivery tray 7.

[0035] A butterfly bolt 603 is installed on the inner thread of the slide 602 , and a pressure plate 604 is fixedly installed on the lower surface of the threaded portion of the butterfly bolt 603 . The pressure plate 604 can be pressed on the upper surface of the connecting arm 502 through the thread of the butterfly bolt 603 .

[0036] Through the design of the connecting rod 601, the slide 602, the butterfly bolt 603, the top pressure plate 604 and the hook 605, after the customer places an order, the staff can select the size of the meal delivery tray 7 according to the number of meals ordered, and then the staff can loosen the butterfly bolt 603 to drive the top pressure plate 604 to disengage the top pressure on the connecting arm 502, so that the slide 602 can slide outward on the outer surface of the connecting arm 502, and then the spacing between the connecting rods 601 can be adjusted until it is adjusted to a length suitable for the meal delivery tray 7, and the butterfly bolt 603 can be tightened. 3 is tightened, so that the pressing plate 604 on the lower surface of the butterfly bolt 603 presses on the upper surface of the connecting arm 502, so that the slide 602 can be fixed in the current position, and then the staff can hang the handle 701 of the meal delivery tray 7 on the upper surface of the hook 605 on the inner side of the connecting rod 601, so that it can hang multiple groups of meal delivery trays 7 of different sizes, so that the hanging meal delivery tray 7 has the function of convenient removal, and the meal delivery tray 7 can be directly removed during the meal taking process to complete the function of taking out all the meals, so as to increase the convenience of guests taking meals.

[0037] According to the above technical scheme, the working steps of this scheme are summarized and sorted out: after the guest orders the food, the staff can choose the size of the food delivery tray 7 according to the number of orders, and after placing the food into the food delivery tray 7, the staff can loosen the butterfly bolt 603, so that the butterfly bolt 603 drives the top pressure plate 604 to disengage the top pressure on the connecting arm 502, so that the slide 602 can slide outward on the outer surface of the connecting arm 502, and then the spacing between the connecting rods 601 can be adjusted. After it is adjusted to a length suitable for the food delivery tray 7, the butterfly bolt 603 can be tightened to make the lower surface of the butterfly bolt 603 The top pressure plate 604 is pressed on the upper surface of the connecting arm 502, thereby fixing the slide 602 in the current position. Then the staff can hang the handle 701 of the meal delivery tray 7 on the upper surface of the hook 605 inside the connecting rod 601. Then the mounting table 1 can drive the food to be delivered through the driving wheel 101. In the process of meal delivery, the color image captured by the RGB camera 2 provides rich visual information, such as the color, texture and shape of the object, and uses the visual algorithm of the controller to enable the RGB camera 2 to identify the walking path. By processing the image data, the system can understand the surrounding environment. Visual information, identifying and classifying different objects, while the laser radar 3 generates high-precision three-dimensional point cloud data by emitting laser pulses and measuring their return time. These point cloud data contain the distance information of each point in the environment, so that it can accurately measure the distance and size of objects, helping the system to build a detailed three-dimensional environmental model. By analyzing the point cloud data, the laser radar 3 can identify and locate obstacles, such as pedestrians and buildings, and the controller will fuse the image data of the RGB camera 2 and the point cloud data of the laser radar 3 to form a comprehensive environmental model. Through data fusion, the system can take advantage of the advantages of each sensor to obtain more accurate and complete environmental information. Based on the fused environmental model, the controller uses a path planning algorithm to calculate the optimal path, taking into account factors including road conditions, traffic rules and obstacle locations. During the delivery process, the controller will continuously update the path planning. The controller will update the path in real time and adjust it according to the new perception data to ensure that obstacles are avoided and the correct path is maintained. Then, through the collaborative work of the stereo camera 503, the laser radar 3 and the controller, the system can efficiently perceive the environment, plan the path and adjust it in real time, thereby achieving accurate road recognition and safe food delivery;

[0038] After the food is delivered to the destination, the stereo camera 503 uses depth perception technology to capture three-dimensional information of objects in the scene. Once a human body is identified, it will use the depth information to determine the position of the guest's arm. The controller then receives this information and adjusts the position of the movable block 501 by controlling the linear module 5, so that the movable block 501 drives the supporting mechanism 6 and the food delivery tray 7 to move to a position flush with the human shoulder for the guest to take down the food delivery tray 7 to complete the purpose of picking up the food.

[0039] In summary: the meal delivery tray 7 can be moved to a corresponding precise height position according to the arm position of the guest, thereby eliminating the disadvantage of the guest having to bend down to pick up the meal, so that the guest has a better experience in the process of picking up the meal, and the hanging meal delivery tray 7 has the function of being easy to remove, and the meal delivery tray 7 can be directly removed during the process of picking up the meal to complete the function of taking out all the meals, thereby increasing the convenience of the guest in picking up the meal.

[0040] Parts not involved in the present invention are the same as the prior art or can be implemented by the prior art. Although the embodiments of the present invention have been shown and described, it is understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the attached claims and their equivalents.

Claims

1. A laser radar-based precise food delivery robot, characterized in that: include: A mounting platform (1), wherein connecting plates (104) are fixedly mounted on both sides of the mounting platform (1), a driving wheel (101) is rotatably mounted on one end of the connecting plate (104), a motor (105) is fixedly mounted on the other end of the connecting plate (104), an output shaft of the motor (105) passes through the connecting plate (104) and is fixedly mounted on one end of the driving wheel (101), and a universal wheel (102) is rotatably mounted on the lower surface of the front end of the mounting platform (1); A stabilizing frame (4) is fixedly mounted on the upper surface of the mounting platform (1), a linear module (5) is fixedly mounted on the upper surface of the stabilizing frame (4), connecting arms (502) are fixedly mounted on both sides of the moving block (501) of the linear module (5), a bearing mechanism (6) is slidably mounted on the outer surface of the connecting arm (502), and a meal delivery tray (7) is hung between two groups of the bearing mechanisms (6).

2. The laser radar-based precise food delivery robot according to claim 1, characterized in that: An RGB camera (2) is fixedly mounted on the lower surface of the mounting platform (1), and a laser radar (3) is fixedly mounted on the upper surface of the mounting platform (1); the signal transmitting ends of the RGB camera (2) and the laser radar (3) are connected to the signal receiving end of the controller, and the controller is arranged on the upper surface of the mounting platform (1).

3. The laser radar-based precise food delivery robot according to claim 2, characterized in that: A stereo camera (503) is fixedly mounted on one end of the moving block (501) of the linear module (5); a signal transmitting end of the stereo camera (503) is connected to a signal receiving end of a controller; and a control output end of the controller is electrically connected to an electrical control end of the linear module (5).

4. The laser radar-based precise food delivery robot according to claim 3, characterized in that: A power supply battery (103) is fixedly mounted on the upper surface of the mounting platform (1), and the power supply battery (103) is electrically connected to the motor (105), the linear module (5), the RGB camera (2), the laser radar (3) and the stereo camera (503).

5. The laser radar-based precise food delivery robot according to claim 4, characterized in that: The bearing mechanism (6) comprises a slide cylinder (602), wherein the slide cylinder (602) is slidably mounted on the outer surface of the connecting arm (502), a connecting rod (601) is fixedly mounted on one end of the slide cylinder (602), a hook (605) is fixedly mounted on one end of the connecting rod (601), and the hook (605) can be provided with a handle (701) for hanging, and the handle (701) is fixedly mounted on the upper surface of the food delivery tray (7).

6. The laser radar-based precise food delivery robot according to claim 5, characterized in that: The inner thread of the slide cylinder (602) is installed with a butterfly bolt (603), and the lower surface of the threaded portion of the butterfly bolt (603) is fixedly installed with a pressure plate (604), and the pressure plate (604) can be pressed on the upper surface of the connecting arm (502) through the thread of the butterfly bolt (603).

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